Motion control for a novel rolling robot with three sliders

Motion planning for a novel nonholonomic rolling robot-RollBallT is developed. RollBallT is a new designed rolling robot with three sliders, which adopt reciprocating locomotion along three orthogonal and concurrent sliding tracks. Definitions of Balancing Retraction and Balancing Extension are provided. A theorem on slow moving sliders without change attitude are proved and used in motion control development. We analyze the motion control for this robot using the quasi-static method according to the contact between sphere and ground and friction analysis on rolling. Examples for demonstrating the motion control strategy are presented for straight line and rectangle. Future remarks are given finally.